Optimization of Two Degree of Freedom PID Controller for Quadrotor with Stochastic Fractal Search Algorithm

A new metaheuristic algorithm, Stochastic Fractal Search (SFS), is proposed to optimize the two degree of freedom PID controller parameters to ensure an optimal control action. This alternative controll technique is able to deal with quadrotor complexity quite well. For comparison purposes, this paper also use the Particle Swarm Optimization (PSO) algorithm to optimize the controller parameters. The results show the superiority of SFS algorithm as an optimization algorithm, especially in this particular control scheme.